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This paper proposes a novel path planning method for cleaning task using multiple robots in large environment. To do so, we suggested algorithm which partitions a given region into several smaller regions and plans the covering path which can completely cover these divided areas. The algorithm also allocates the planed areas to cleaning robots sequentially and generates the paths which robots can...
The authors have been developing a omni-directional mobile robot with three active caster wheels. Position estimation with sensory systems of a mobile robot is fundamental function for autonomous navigation. The position tracking with odometry and position-based control algorithm for our omni-directional mobile robot are reported in this paper. Control architecture for this omni-directional mobile...
This paper presents the teleoperation control with force feedback of the omni-directional mobile robot(ODMR). The omni-directional robot is built as a slave robot and 2 DOF joystick is used as a master robot. The operator controls the movements of the ODMR through wireless communication. In addition, the contact force of the ODMR is measured and fed back to the joystick so that the operator can feel...
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